CN102028599A - Digital multi-state balance training device - Google Patents
Digital multi-state balance training device Download PDFInfo
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- CN102028599A CN102028599A CN2009101968061A CN200910196806A CN102028599A CN 102028599 A CN102028599 A CN 102028599A CN 2009101968061 A CN2009101968061 A CN 2009101968061A CN 200910196806 A CN200910196806 A CN 200910196806A CN 102028599 A CN102028599 A CN 102028599A
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Abstract
The invention provides a digital multi-state balance training device. The device comprises a bed base, a bed frame and a bed board, wherein the bed board is divided into a back sliding board and a lower limb fixing board; the back sliding board is connected with the bed frame in a sliding manner and can move back and forth along the bed frame; a displacement sensor is arranged below the back sliding board; a left lower limb bracket and a right lower limb bracket are connected with the front end of the bed frame; a left lower limb bracket moving mechanism and a right lower limb bracket moving mechanism are arranged between the left lower limb bracket and the bed frame, and between the right lower limb bracket and the bed frame respectively; and a bed frame angle adjusting mechanism is arranged between the bed frame and the bed base. The digital multi-state balance training device is a device which integrates rehabilitation evaluation and rehabilitation training of static balance, and crouch and stand positive and negative dynamic balance functions of a patient, can perform in any inclination angle backside support weight loss state, and can realize visual feedback through a display device and a computer for the patient so as to perform training and evaluation.
Description
Technical field
The present invention relates to a kind of rehabilitation medical apparatus, relate in particular to a kind of digitized polymorphic equilibrium training devices.
Background technology
According to statistics, China's cerebrovascular, parkinson disease, craniocerebral trauma, spinal cord injury annual morbidity respectively are 2,19/,100,000,1,00/,100,000,55.4/10 ten thousand and 6/,100,000.And because aging, natural disaster takes place frequently and contingency increases cause, sickness rate is also increasing year by year.These diseases and damage can cause patient's equilibrium function, the dysfunction that stands of squatting down, and even disabled.Seriously ill residual patient is an example with 320 of present survival～4,000,000 cerebrovasculars, and equilibrium function, the dysfunction that stands of squatting down are main disability-causing factors.A plurality of evidence-based medicine EBM evidences show, comprise the standing balance function, squatting down stands and the exercise of passive exercise function is an important way of improving function, and carrying out the function corresponding evaluation then is the prerequisite of training and the requisite measure of summing up curative effect.
Static equilibrium is a mode in a basic balance, and promptly human body is kept the ability of stable posture on immobilized supporting surface.Dynamic equilibrium is higher balance mode, and promptly human body is on active supporting surface or keep the ability of stable posture in moving.The digitizer development of domestic equilibrium evaluation and training relatively lags behind, and patent is limited as basis evaluation/exercise equipment more.Developing integrated, digitized polymorphic equilibrium training devices is the trend of rehabilitation engineering.
Sitting down and standing is functional activation for keeping functional independence repeatedly to carry out every day, and in estimating disabled various ADL scales (as the Barthel scale), it is all directly relevant therewith to shift, go to toilet, and accounts for the scoring larger proportion usually.There is data to show, more the occurring in the process of standing of squatting down of falling of apoplexy patient.Therefore, improving the function that stands of squatting down effectively is the important behave of rehabilitation.Generally by perusal or use simple timing tool to observe patient's the function that stands of squatting down, more the evaluation of complicated kinematics and kinetics needs be undertaken by high-speed camera and motion analysis system clinically.Squatting down stands on the functional training, is generally the therapist at causing the handicapped particular problem that stands of squatting down, and as muscular strength, balance, spasm etc., carries out corresponding concrete exercise and integrates exercise.Still lack at present the digitizer that the function that stands at squatting down is carried out the integration training.
Both legs bend and stretch synchronously with alternately to bend and stretch be one of human body lower limbs motion important way, and passive similar passive the squatting down of bending and stretching synchronously stands, and passive alternately bend and stretch the similar passive action of marking time.Can carry out he disease and the damage of dynamic lower limb equilibrium function test training apoplexy, cerebral trauma, parkinson disease, spinal cord injury etc. are arranged; Be used to that stupor is arranged, the patient of the disturbance of consciousness of vegetative state and faint state of consciousness etc.Passive both legs bend and stretch and alternately bend and stretch how to carry out manual operation by trainer at present, not only time-consuming, effort, treatment cost height, and in the loss of weight function aspects, great majority adopt Suspenoing apparatus to carry out weight-losing, Suspenoing apparatus uses suspender upwards to draw weight in patients, need constraint patient trunk, easily bring patient's discomfort, operate more loaded down with trivial details.
Also there are the characteristics of lacking individuality training in the product of present passive exercise, adopts unified leg training product for the patient that the stature height is arranged, and cause part patient training process not reach effect, or training strength is excessive, and the patient has been caused certain damage.
In addition, functional training product in the past often lacks recreationization training and visual feedback, and patient and instrument just can not carry out interaction like this, makes training can not excite patient's interest, and patient lacks confidence to training.This long-term and dull training can influence the rehabilitation of patients process, causes rehabilitation efficacy undesirable.
Therefore, the integrated standing balance function of exploitation one cover, the equilibrium function that stands of squatting down, and passive exercise equilibrium function device is significant to the equilibrium function impaired patients.
Summary of the invention
Purpose of the present invention exactly in order to address the above problem, provides a kind of digitized polymorphic equilibrium training devices.
In order to achieve the above object, the present invention has adopted following technical scheme: a kind of digitized polymorphic equilibrium training devices, comprise base, bedstead and bed board, bedstead is installed on the base and with base is rotatable and links to each other, bed board is divided into dorsal glide plate and lower limb fixing head, the lower limb fixing head is fixed on the bedstead and uses as support limb, the dorsal glide plate is used as the back support loss of weight, between dorsal glide plate and bedstead carriage is housed, the dorsal glide plate can move forward and backward along bedstead, below the dorsal glide plate, displacement sensing apparatus is housed, front end at bedstead is connected with left lower extremity support and right lower extremity support, between left lower extremity support and right lower extremity support and bedstead, be connected with left lower extremity support travel mechanism and right lower extremity support travel mechanism respectively, be provided with the bed board angle adjusting mechanism between bedstead and base, above-mentioned each mechanism all comprises a linear stepping motor; Control chamber is installed on base, is provided with sensor interface circuitry, motor drive module and power module in the control chamber, power module is respectively sensor interface circuitry and motor drive module provides power supply; Motor drive module links to each other with the linear stepping motor signal of telecommunication in bed board angle adjusting mechanism, left lower extremity support travel mechanism and the right lower extremity support travel mechanism respectively.
Described left lower extremity support is identical with right lower extremity supporting structure symmetry, respectively comprises pedal support, lower limb telescoping mechanism, foot front end buffer, the heel axis of guide and pedal; The pedal support links to each other with corresponding lower limb support travel mechanism transmission; The foot front end buffer and the heel axis of guide are connected between pedal and the pedal support; An end of forming the lower limb telescoping mechanism of lower limb support links to each other with the pedal support is rotatable, and the other end links to each other with bedstead is rotatable; Be respectively equipped with plantar pressure sensor on the left and right pedal assembly that the front end of bedstead connects, pick off links to each other with the sensor interface circuitry signal of telecommunication in the control chamber; Described left lower extremity support travel mechanism links to each other with the transmission of corresponding pedal support respectively with right lower extremity support travel mechanism.
Described lower limb telescoping mechanism comprises thigh expansion link, shank expansion link, thigh support frame and little leg support, one end of thigh expansion link links to each other with bedstead is rotatable, the other end links to each other with the shank expansion link is rotatable, the other end of shank expansion link links to each other with the pedal support is rotatable, thigh support frame is installed on the thigh expansion link, little leg support is installed on the shank expansion link, is respectively equipped with the adjusting set lever on thigh expansion link, shank expansion link, thigh support frame and little leg support.
Described plantar pressure sensor is made up of the cantilever beam that posts four foil gauges, and the cantilever beam that posts four foil gauges is inserted in the sole stressed member of being made up of pedal, pedal support, foot front end buffer and the heel axis of guide.
On the base of described training bed a plurality of universal adjustment castors are installed, and correspondingly are provided with a plurality of flexible up and down governor motions of castor that are used to regulate.
Also comprise the bed board angular display unit, this bed board angular display unit is installed on the bedstead and moves with bedstead.
Digitized polymorphic equilibrium training devices of the present invention is owing to adopted above technical scheme, and coupled computer program and display device are used, and make it compared with prior art, have following advantage and characteristics:
One, can finish under the back support loss of weight form static equilibrium and the static posture figure of (or not loss of weight);
Two, his dynamic (hip knee joint passive and synchronous/ alternately bend and stretch) balance and his dynamic posturography that can finish under the back support loss of weight form (or not loss of weight);
Three, the simulation that can finish under the back support loss of weight form (or not loss of weight) the active dynamic analysis that stands of squatting down;
Four, can have visual feedback static equilibrium, squat down stand, his dynamic equilibrium test and balance training.Training method individuation, digitized, interest and appeal.
Five, the polymorphic equilibrium evaluate parameter comprises: the frontal plane hunting frequency; Average center of gravity; The maximum amplitude of oscillation of frontal plane; The average amplitude of oscillation of frontal plane; Center of gravity motion track total length; The center of gravity motion track gross area; Frontal plane side slew rate, left and right sides lower limb acting amount at every turn and the each working power of left and right sides lower limb etc.The lower limb passive flexion and extension is provided with cycle/time arbitrarily.Squatting down stands is provided with the time arbitrarily.
Description of drawings
Fig. 1 is the structural representation of facing of digitized polymorphic equilibrium training bed;
Fig. 2 is the plan structure sketch map of digitized polymorphic equilibrium training bed;
Fig. 3 is a plantar pressure sensor placement location sketch map.
The specific embodiment
Referring to Fig. 1, Fig. 2, this digitized polymorphic equilibrium training devices 1, comprise base 11, bedstead 12 and bed board 13, bed board 13 is divided into dorsal glide plate 131 and lower limb fixing head 132, bedstead 12 be installed on the base 11 and with base 11 by 6 rotatable linking to each other of rotating shaft, dorsal glide plate 131 links to each other and can move forward and backward along bedstead by being connected slide block 7 slips with bedstead 12, and lower limb fixing head 132 is fixedly linked with bedstead 12.Between dorsal glide plate 13 and the bedstead 12 slide lock handle 9 is housed also, when 9 lockings of slide lock handle, dorsal glide plate 13 maintains static, and when slide lock handle 9 unclamped, dorsal glide plate 131 could move forward and backward along bedstead.Front end at bedstead 12 is connected with left lower extremity support and right lower extremity support 14, between left lower extremity support and right lower extremity support 14 and bedstead 12, be connected with left lower extremity support travel mechanism and right lower extremity support travel mechanism 15 respectively, be provided with bed board angle adjusting mechanism 16 between bedstead 12 and base 11, above-mentioned each mechanism all comprises a linear stepping motor.On the base 11 of training bed, a plurality of universal adjustment castors 111 are installed, and correspondingly are provided with a plurality of flexible up and down governor motions 112 of castor that are used to regulate.Bed board angular display unit 8 also is installed on bedstead 12, and bed board angular display unit 8 moves the angle that is used to show bedstead 12 and bed board 13 inclinations with bedstead 12.
Cooperation is referring to Fig. 2, and the left lower extremity support among the present invention is identical with right lower extremity supporting structure 14 symmetries, respectively comprises pedal support 141, lower limb telescoping mechanism 142, foot front end buffer 143, the heel axis of guide 144 and pedal 145.Pedal support 141 links to each other with corresponding lower limb support travel mechanism 15 transmissions; The foot front end buffer 143 and the heel axis of guide 144 are connected between pedal 145 and the pedal support 141.One end of lower limb telescoping mechanism 142 and 141 rotatable linking to each other of pedal support, the other end and 12 rotatable linking to each other of bedstead.Around pedal 145, be provided with plantar pressure sensor, its installation site as shown in Figure 3, this plantar pressure sensor is made up of the cantilever beam that posts four foil gauges, the cantilever beam that posts four foil gauges is inserted in the sole stressed member of being made up of pedal, pedal support, foot front end buffer and the heel axis of guide, and links to each other with the sensor interface circuitry signal of telecommunication in the control chamber 2 respectively.Be provided with angular transducer (not shown come out) on lower limb telescoping mechanism 143, angular transducer links to each other with the sensor interface circuitry signal of telecommunication in the control chamber.Left lower extremity support travel mechanism links to each other with corresponding pedal support 141 transmissions respectively with right lower extremity support travel mechanism 15.
Cooperation is referring to Fig. 2, lower limb telescoping mechanism 142 among the present invention comprises thigh expansion link 1421, shank expansion link 1422, thigh support frame 1423 and shank support 1424, one end of thigh expansion link 1421 and 12 rotatable linking to each other of bedstead, the other end and 1422 rotatable linking to each other of shank expansion link, the other end of shank expansion link 1422 and 141 rotatable linking to each other of pedal support, thigh support frame 1423 is installed on the thigh expansion link 1421, shank support 1424 is installed on the shank expansion link 1422, at the thigh expansion link, the shank expansion link, be respectively equipped with on thigh support frame and the little leg support and regulate set lever 1425.
Control chamber 2 is installed on base 11, is provided with sensor interface circuitry, motor drive module and power module (not shown come out) in the control chamber, power module is respectively sensor interface circuitry and motor drive module provides power supply; Motor drive module links to each other with the linear stepping motor signal of telecommunication in bed board angle adjusting mechanism, left lower extremity support travel mechanism and the right lower extremity support travel mechanism respectively.
The present invention cooperates main control computer and two display screens (main display and patient use display screen) to use, and by the control of main control computer realization center, is shown by two display screens.Wherein main display is placed on the operating board, uses for medical personnel.Main display can show and comprises all the elements such as patient information, test report, functional training, game training, generation report, system are provided with, and can control the content of patient with display screen simultaneously.The patient is with display location the place ahead when the patient trains, be convenient to the variation that the patient observes strength size in the training process, the real-time active regulation balance, the patient can show the participation process of training process, recreation and the contents such as result of training with display screen, grasps for the patient.
The collection of data and processing among the present invention, gather the plantar pressure data by the pressure transducer group, by the displacement transducer group collection process displacement data that stands of squatting down, be transferred to the sensor interface circuitry in the control chamber, send integrated card (to amplify by the change of multichannel sensing through signal, filtering, sampling keeps), enter data collecting card, outputing to main control computer then handles signal, make left and right sides foot firmly size with block diagram intuitively, the form of numeral size shows, thereby make patient can get information about training by a period of time, oneself obtained great progress, help helping patient to set up the confidence of rehabilitation, excite their training desire.Can carry out frontal plane hunting frequency, average center of gravity, the maximum amplitude of oscillation of frontal plane, the average amplitude of oscillation of frontal plane, center of gravity motion track total length, the center of gravity motion track gross area, frontal plane side slew rate, left and right sides lower limb acting amount at every turn and isoparametric calculating of the each working power of left and right sides lower limb and demonstration by the various signals of gathering simultaneously.
Be provided with motion-control module in main control computer, main control computer drives each motion by motion-control module, i.e. linear stepping motor in bed board angle adjusting mechanism, left lower extremity support travel mechanism and the right lower extremity support travel mechanism.Make its positive and negative rotation that transfers the realization bed board by the Synchronization Control motor, reach the effect that bed board 0～90 degree tilts arbitrarily with this.The patient just can realize lying low, reclining even stand and train like this, has realized assessment and training under the various angle loss of weight states.Linear stepping motor in left lower extremity support travel mechanism and the right lower extremity support travel mechanism promotes the motion of left and right sides pedal support respectively, realize that the passive bilateral of lower limb bends and stretches synchronously or passive bilateral alternately bends and stretches or about single leg extensions, the speed of the speed of service controlled motion of motor, he trains and assessment dynamically to realize various states.
Digitized polymorphic equilibrium training devices's of the present invention using method is as follows:
1, regulate the angle of inclination of bed according to patient's practical situation automatically, realize loss of weight in various degree, be installed in the anglec of rotation of the bed board angular display unit demonstration bed on the bedstead, angle is more little, and the loss of weight degree is big more.
2, when the handle lock timing, the dorsal glide plate maintains static, realize test of static equilibrium and passive lower limb rehabilitation and training: the patient tilts to lie on a bed near bed board, and allows its left and right sides foot step down in respectively on the pedal of the left and right sides, and left and right sides pedal is on the same horizontal plane.
3, carry out static equilibrium and passive lower limb rehabilitation functional test, to obtain the testing evaluation parameter of every static posture figure, dynamic posturography, described parameter comprises frontal plane hunting frequency, average center of gravity, the maximum amplitude of oscillation of frontal plane, the average amplitude of oscillation of frontal plane, center of gravity motion track total length, the center of gravity motion track gross area, frontal plane side slew rate.
4, when handle unclamps, the dorsal glide plate is followed the patient and is done the action that stands of squatting down, while dorsal glide plate is followed the patient and is slided up and down, realization is initiatively squatted down to stand and tested and training: the patient tilts to lie on a bed near the dorsal glide plate, and allow its left and right sides foot step down in respectively on the pedal of the left and right sides, left and right sides pedal is on the same horizontal plane.
5, the functional test that stands of squatting down, to obtain the testing evaluation result of every kinetic parameter, described kinetic parameter comprises frontal plane hunting frequency, average center of gravity, the maximum amplitude of oscillation of frontal plane, the average amplitude of oscillation of frontal plane, center of gravity motion track total length, the center of gravity motion track gross area, frontal plane side slew rate, left and right sides lower limb acting amount at every turn and the each working power of left and right sides lower limb.
Claims (6)
1. digitized polymorphic equilibrium training devices, it is characterized in that: comprise base, bedstead and bed board, bedstead is installed on the base and with base is rotatable and links to each other, bed board is divided into dorsal glide plate and lower limb fixing head, the lower limb fixing head is fixed on the bedstead, the dorsal glide plate slides with bedstead and links to each other and can move forward and backward along bedstead, below the dorsal glide plate, displacement sensing apparatus is housed, front end at bedstead is connected with left lower extremity support and right lower extremity support, between left lower extremity support and right lower extremity support and bedstead, be connected with left lower extremity support travel mechanism and right lower extremity support travel mechanism respectively, be provided with the bed board angle adjusting mechanism between bedstead and base, above-mentioned each mechanism is all driven by a linear stepping motor; Control chamber is installed on base, is provided with sensor interface circuitry, motor drive module and power module in the control chamber, power module is respectively sensor interface circuitry and motor drive module provides power supply; Motor drive module links to each other with the linear stepping motor signal of telecommunication in bed board angle adjusting mechanism, left lower extremity support travel mechanism and the right lower extremity support travel mechanism respectively.
2. digitized polymorphic equilibrium training devices as claimed in claim 1, it is characterized in that: described left lower extremity support is identical with right lower extremity supporting structure symmetry, respectively comprises pedal support, lower limb telescoping mechanism, foot front end buffer, the heel axis of guide and pedal; The pedal support links to each other with corresponding lower limb support travel mechanism transmission; The foot front end buffer and the heel axis of guide are connected between pedal and the pedal support; One end of lower limb telescoping mechanism links to each other with the pedal support is rotatable, and the other end links to each other with bedstead is rotatable; Be provided with plantar pressure sensor around the pedal, plantar pressure sensor links to each other with the sensor interface circuitry signal of telecommunication in the control chamber; Be provided with angular transducer on the lower limb telescoping mechanism, angular transducer links to each other with the sensor interface circuitry signal of telecommunication in the control chamber; Described left lower extremity support travel mechanism links to each other with the transmission of corresponding pedal support respectively with right lower extremity support travel mechanism.
3. digitized polymorphic equilibrium training devices as claimed in claim 1, it is characterized in that: described lower limb telescoping mechanism comprises the thigh expansion link, the shank expansion link, thigh support frame and little leg support, one end of thigh expansion link links to each other with bedstead is rotatable, the other end links to each other with the shank expansion link is rotatable, the other end of shank expansion link links to each other with the pedal support is rotatable, thigh support frame is installed on the thigh expansion link, little leg support is installed on the shank expansion link, at the thigh expansion link, the shank expansion link, be respectively equipped with the adjusting set lever on thigh support frame and the little leg support.
4. digitized polymorphic equilibrium training devices as claimed in claim 1, it is characterized in that: described plantar pressure sensor is made up of the cantilever beam that posts four foil gauges, and the cantilever beam that posts four foil gauges is inserted in the sole stressed member of being made up of pedal, pedal support, foot front end buffer and the heel axis of guide.
5. digitized polymorphic equilibrium training devices as claimed in claim 1 is characterized in that: on the base of described training bed a plurality of universal adjustment castors are installed, and correspondingly are provided with a plurality of flexible up and down governor motions of castor that are used to regulate.
6. digitized polymorphic equilibrium training devices as claimed in claim 1 is characterized in that: also comprise the bed board angular display unit, this bed board angular display unit is installed on the bedstead and moves with bedstead.
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| CN2009101968061A CN102028599B (en) | 2009-09-29 | 2009-09-29 | Digital multi-state balance training device |
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| CN2009101968061A CN102028599B (en) | 2009-09-29 | 2009-09-29 | Digital multi-state balance training device |
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| CN102028599A true CN102028599A (en) | 2011-04-27 |
| CN102028599B CN102028599B (en) | 2013-12-11 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105662779A (en) * | 2016-01-10 | 2016-06-15 | 王珂 | Comprehensive rehabilitation training assistive instrument for cerebral palsy |
| CN107198642A (en) * | 2016-03-13 | 2017-09-26 | 中山市丰申电器有限公司 | A kind of electronic therapeutic equipment |
| CN108211243A (en) * | 2016-12-10 | 2018-06-29 | 上海邦邦机器人有限公司 | A kind of lower limb rehabilitation training detecting system detection squats up trained method |
| CN109932107A (en) * | 2019-04-10 | 2019-06-25 | 南京振子智能科技有限公司 | A kind of double bridge formula pressure detector |
| CN112545536A (en) * | 2020-12-02 | 2021-03-26 | 复旦大学附属华山医院 | Brain plasticity-based action assisting device and control method and circuit thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105662779A (en) * | 2016-01-10 | 2016-06-15 | 王珂 | Comprehensive rehabilitation training assistive instrument for cerebral palsy |
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| CN112545536A (en) * | 2020-12-02 | 2021-03-26 | 复旦大学附属华山医院 | Brain plasticity-based action assisting device and control method and circuit thereof |
| CN112545536B (en) * | 2020-12-02 | 2023-07-04 | 复旦大学附属华山医院 | Action auxiliary device based on brain plasticity and control method and circuit thereof |
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